JP2567534B2 - Elevator controller - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator controller using a linear induction motor to drive a car up and down,
In particular, the present invention relates to an elevator control device that improves ride comfort by compensating thrust fluctuations and thrust ripples.

[0002]

2. Description of the Related Art Conventionally, a primary winding (armature) provided on a counterweight or a car and a secondary conductor (conductor plate) provided on the hoistway so as to face the primary winding. Elevator control devices that constitute a linear induction motor and drive the car up and down by using the traveling thrust of the linear induction motor are well known.

Usually, in this type of apparatus, AC power to the linear induction motor is supplied by a variable voltage variable frequency inverter (hereinafter, simply referred to as an inverter).
Further, the control circuit of the inverter feeds back the traveling speed and compares it with the speed command, and controls the power supplied from the inverter to the linear induction motor based on this speed deviation.

FIG. 5 is a side view schematically showing a conventional elevator control device described in, for example, Japanese Patent Application Laid-Open No. 1-271381, and FIG. 6 is a plane cross section showing the counterweight and the linear induction motor and its periphery in FIG. It is a figure. In the figure, 1 is a car, 2 is a counterweight that offsets the weight of the car 1, 3 is a rope that supports the car 1 and the counterweight 2 at each end, and these are arranged in the hoistway. As a result, an elevating body that travels integrally with the car 1 is configured.

Reference numeral 4 is a pulley installed on the upper part of the hoistway, on which the rope 3 is hung, 5 is an L-shaped guide rail provided along the hoistway, and 6 is aluminum sandwiched by a pair of guide rails 5. 6a is a joint between the conductor plates 6, 7 is a bracket that supports the guide rail 5 and the conductor plate 6, and 8 is a hoistway pit in which the guide rail 5 and the conductor plate 6 are provided via the bracket 7. It is a wall.

The conductor plate 6 constitutes a secondary conductor of the linear induction motor, and is provided on both sides of the counterweight 2 in the traveling direction of the lifting body, that is, along the hoistway. Also, the conductor plate 6
Has a finite length, a plurality of units are added via the joint 6a, and the wall 8 is provided with a length corresponding to the elevating stroke of the car 1. Further, the seam 6a is provided with a small gap in order to prevent the aluminum conductor plate 6 from expanding and bending at a high temperature in summer or the like.

Reference numeral 9 denotes a primary winding of the linear induction motor, that is, an armature, which is provided on each side of the counterweight 2 so as to face the conductor plate 6 and sandwich the conductor plate 6 from both sides. The magnetic flux links the conductor plate 6. Ten
Is a speed sensor for detecting the traveling speed V of the lifting / lowering body, that is, the armature 9, and is composed of, for example, a disk rotating in contact with the conductor plate 6 and an encoder interlocking with the disk.

In FIG. 5, 11 is a moving cable connected to the armature 9 and the speed sensor 10 and suspended in the hoistway,
Reference numeral 12 denotes a control device including an inverter (described later) that receives the traveling speed V via the moving cable 11 and supplies AC power to the armature 9.

FIG. 7 is a block diagram specifically showing the control device 12 in FIG. 5, in which 20 is a power source for supplying three-phase alternating current and 21 is a power source.
A converter comprising a diode bridge for converting an AC voltage from DC to DC, a capacitor for smoothing the DC voltage output from the converter, and a DC voltage smoothed by the capacitor for converting to a variable voltage variable frequency AC. 24 is a current transformer for detecting the current Im supplied from the inverter 23 to the armature 9 of the linear induction motor. 25 is connected in parallel to the capacitor 22 and consumes regenerative power from the armature 9. The resistor 26 is a transistor switch that is turned on during power regeneration and causes the resistor 22 to consume power.

A control circuit 27 generates a three-phase current command Is for the inverter 23 so that the traveling speed V from the speed sensor 10 and the speed command Vs from a speed command generator (not shown) match. Is a PWM circuit that generates a PWM signal P for turning on and off the transistor in the inverter 23 so that the armature current Im and the current command Is match.

FIG. 8 is a block diagram concretely showing the control circuit 27 in FIG. 7, 31 is a subtracter for subtracting the traveling speed V from the speed command Vs to generate a speed deviation ΔV, and 32 is a speed deviation Δ.
A speed controller that generates a thrust force command Fs by gain compensation and phase compensation of V, and a current command generator 33 that generates a current command Is for the armature 9 based on the thrust force command Fs and the traveling speed V. The current command generator 33 functions as a power command generator for controlling the output power of the inverter 23, and the current command Is may be replaced with a voltage command.

Next, the operation of the conventional elevator controller will be described with reference to FIGS. When the speed command Vs is generated from the speed command generator, the speed controller 32 in the control circuit 27 causes the thrust command Fs based on the speed deviation ΔV.
Then, the current command generator 33 generates the current command Is based on the thrust command Fs and the traveling speed V.

At this time, the cutoff frequency of the speed control system using the speed controller 32 is preferably as high as possible in view of the response of the elevator control, but actually, resonance with the elevator mechanical system including the rope 3 is avoided. Therefore, it is set to about several rad / sec. This is because the resonance frequency of the elevator mechanical system is generally about 10 rad / sec (several Hz), and it is necessary to remove frequency components of several rad / sec or more.

Based on the current command Is thus obtained, the PWM circuit 28 generates the PWM signal P, and drives and controls the inverter 23 so that the armature current Im matches the current command Is. As a result, an eddy current is generated in the conductor plate 6 due to the interlinking magnetic flux from the armature 9, and the armature 9 travels along the conductor plate 6 by electromagnetic induction. It is driven up and down together with the child 9 by a desired speed command Vs.

However, the conductor plate 6 arranged in the hoistway has a gap due to the joint 6a, and the eddy current flowing in the conductor plate 6 is
Since the joints 6a of the vertically adjacent conductor plates 6 are discontinuous and discontinuous, thrust fluctuations occur when the armature 9 passes through the joints 6a. Further, due to the finite length of the armature 9 in the traveling direction, a unique thrust ripple is generated during operation of the linear induction motor, so that the car 1 is shaken and the riding comfort is impaired. .

Here, the thrust fluctuation due to the joint 6a of the conductor plate 6 is twice the slip frequency, and the thrust ripple peculiar to the linear induction motor is twice the power supply frequency, that is, the output frequency (several Hz) of the inverter 23. is there. Therefore, the frequency of thrust fluctuation is about several tens rad / sec, but as described above, the cutoff frequency of the speed control system is several rad / sec, so these thrust fluctuations cannot be compensated.

[0017]

As described above, the conventional elevator control apparatus generates the thrust command Fs by the speed control system having the low cutoff frequency using only the speed controller 32, and based on this thrust command Fs. Generated current command I
The inverter 23 is controlled by s. Therefore, the responsiveness of the speed control is poor, and it is not possible to compensate for the thrust fluctuation caused by the seam 6a and the thrust ripple peculiar to the linear induction motor, so that the ride comfort cannot be improved.

The present invention has been made to solve the above problems, and an object of the present invention is to obtain an elevator control device that improves ride comfort by compensating thrust fluctuations and thrust ripples.

[0019]

The elevator control apparatus according to the present invention is provided with an acceleration sensor for detecting the traveling acceleration of the elevator body, and the speed at which the control circuit generates an acceleration command for the elevator body based on the speed deviation. A controller, an acceleration controller that generates a corrected thrust command for the lifting body based on the acceleration deviation between the acceleration command and the running acceleration, and a power command generation unit that generates a power command for the inverter based on the corrected thrust command. It is a waste.

Further, the elevator control apparatus according to the present invention is provided with a thrust sensor for detecting the traveling thrust of the ascending / descending body, and the control circuit generates a thrust command based on the speed deviation and a thrust command. A thrust controller that generates a corrected thrust command for the lifting body based on the thrust deviation from the traveling thrust, and a power command generation unit that generates a power command for the inverter based on the corrected thrust command.

[0021]

According to the present invention, the detected traveling acceleration or traveling thrust of the lifting body is directly feedback-controlled by using the control system having a high cutoff frequency to generate an inverter power command having a good control response, Thrust fluctuation and thrust ripple are compensated and reduced to improve riding comfort.

[0022]

【Example】

Example 1. An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a side view schematically showing an embodiment of the present invention, and 1 to 6 and 9 to 11 are the same as those described above.
The peripheral structure of the counterweight 2 is as shown in FIG.
The specific configuration of the control device 12A is the same as that of FIG. 7 except that a part of the control circuit 27 is different.

In FIG. 1, reference numeral 13 denotes the traveling acceleration α of the lifting body.
It is a well-known acceleration sensor for detecting the above, and is provided at an arbitrary position (the upper portion in FIG. 1) of the counterweight 2 (or the armature 9) that constitutes the lifting body. The traveling acceleration α detected by the acceleration sensor 13 is input to the control device 12A together with the traveling speed V via the moving cable 11.

FIG. 2 is a block diagram concretely showing the control circuit 27A in the control device 12A, and 32A shows an acceleration command α for the ascending / descending body by gain compensating and phase compensating the velocity deviation ΔV.
s is a speed controller, 34 is a subtractor that subtracts the traveling acceleration α from the acceleration command αs to generate an acceleration deviation Δα,
Reference numeral 35 denotes an acceleration controller that performs gain compensation and phase compensation on the acceleration deviation Δα to generate a corrected thrust command Fs ′ for the ascending / descending body. The cutoff frequency of the acceleration controller 35 is several hundred rad
The corrected thrust command Fs' generated by the acceleration controller 35 is input to the power command generating means for the inverter 23, that is, the current command generator 33.

Next, the operation of one embodiment of the present invention will be described with reference to FIGS. still,
The basic control operation is similar to that described above, and will not be described here. During up-and-down driving, the acceleration sensor 13 detects the traveling acceleration α of the up-and-down body, that is, the counterweight 2, and inputs it to the control circuit 27A in the control device 12A.

The speed controller 32A in the control circuit 27A, like the speed controller 32 described above, generates an acceleration command αs based on the speed deviation ΔV. This acceleration command αs is obtained by substantially dividing the thrust command Fs by the mass of the lifting body based on the equation of motion F = mα.

The acceleration controller 35 determines the acceleration deviation Δ based on the acceleration deviation Δα between the acceleration command αs and the traveling acceleration α.
A corrected thrust command Fs ′ for canceling α is generated, and the current command generator 33 generates a current command Is for the inverter 23 based on the corrected thrust command Fs ′ and the traveling speed V. The current command Is is input to the PWM circuit 28 and the PWM
The signal P is generated to control the transistor in the inverter 23, generate AC power from the inverter 23, and drive the armature 9.

At this time, since the cutoff frequency of the acceleration control system using the acceleration controller 35 is set to several 100 rad / sec as described above, the corrected thrust command Fs' is several 10 rad.
It is possible to sufficiently respond to the thrust fluctuation of / sec.
Therefore, the feedback control of the traveling acceleration α surely compensates and reduces various thrust fluctuations including thrust ripples, so that the riding comfort is improved.

Example 2. Although the acceleration sensor 13 detects the traveling acceleration α and the control circuit 27A feedback-controls the traveling acceleration α to generate the current command Is in the above embodiment, the thrust sensor detects the traveling thrust to determine the traveling thrust. The current command Is may be generated by feedback control.

FIG. 3 is a side view schematically showing another embodiment of the present invention, showing a case where the traveling thrust F is used for feedback control. Reference numeral 14 is a thrust sensor that detects the traveling thrust F of the lifting body, and is provided on the side surface of the armature 9, for example. The thrust force sensor 14 is specifically composed of a strain gauge, and may be provided at a position where a slight strain can be measured at a fixed position of the armature 9 with respect to the counterweight 2, for example. Running thrust F detected by thrust sensor 14
Is a control device together with the traveling speed V via the moving cable 11.
Input to 12B.

FIG. 4 is a block diagram concretely showing the control circuit 27B in the control unit 12B, and 36 shows the difference between the thrust command Fs from the speed controller 32 and the traveling thrust F from the thrust sensor 14. A subtractor for generating a thrust deviation ΔF, 37 is a thrust deviation Δ
The cut-off frequency of the thrust controller and thrust controller 37 that generates the final corrected thrust command Fs 'by gain compensation and phase compensation of F is set to several hundred rad / sec, and the thrust command Fs' is the current. Input to the command generator 33. Even when the control circuit 27B of the second embodiment is used, the control response of the thrust controller 37 is improved, so that the thrust fluctuation can be reliably compensated and reduced as in the first embodiment.

In each of the above embodiments, the control circuit 27A and
Although the current command Is is used as the electric power command of the inverter 23 generated from 27B, it goes without saying that the same operational effect can be obtained even if the voltage command is used. In this case, the PWM circuit 28 feeds back the AC voltage value applied to the armature 9.

[0033]

As described above, according to the present invention, the acceleration sensor for detecting the traveling acceleration of the lifting body is provided, and
The control circuit includes a speed controller that generates an acceleration command for the lifting body based on the speed deviation, an acceleration controller that generates a correction thrust command for the lifting body based on the acceleration deviation between the acceleration command and the running acceleration, and a correction thrust force. A power command generation unit that generates a power command to the inverter based on the command, and directly feedback-controls the traveling acceleration by using a control system with a high cutoff frequency to generate an inverter power command with good control response. Therefore, there is an effect that an elevator control device having improved ride comfort by reducing and compensating thrust fluctuations and thrust ripples can be obtained.

Further, according to the present invention, a thrust force sensor for detecting the traveling thrust force of the lifting body is provided, and the control circuit generates a thrust force command based on the velocity deviation, and a thrust force command and a traveling thrust force. The control system with a high cut-off frequency includes a thrust controller that generates a corrected thrust command for the lifting body based on the thrust deviation and a power command generation unit that generates a power command for the inverter based on the corrected thrust command. Since the thrust is directly feedback-controlled to generate the inverter power command having a good control response, there is an effect that an elevator control device in which the ride comfort is improved by compensating the thrust fluctuation and the thrust ripple.

[Brief description of drawings]

FIG. 1 is a side view schematically showing an embodiment of the present invention.

FIG. 2 is a block diagram showing a control circuit according to an embodiment of the present invention.

FIG. 3 is a side view schematically showing another embodiment of the present invention.

FIG. 4 is a block diagram showing a control circuit according to another embodiment of the present invention.

FIG. 5 is a side view schematically showing a conventional elevator control device.

FIG. 6 is a plan sectional view showing a structure around a counterweight of a general elevator.

FIG. 7 is a configuration diagram showing a general elevator control device.

FIG. 8 is a block diagram showing a control circuit configuration of a conventional elevator control device.

[Explanation of symbols]

 1 Car 2 Balance weight 6 Conductor plate 9 Armature 10 Speed sensor 13 Acceleration sensor 14 Thrust sensor 23 Inverter 27A, 27B Control circuit 32, 32A Speed controller 33 Current command generator (power command generator) 35 Acceleration controller 37 Thrust Controller V Travel Speed Vs Speed Command ΔV Speed Deviation α Travel Acceleration αs Acceleration Command Δα Acceleration Deviation F Travel Thrust Fs Thrust Command Fs ′ Corrective Thrust Command ΔF Thrust Deviation Is Current Command (Power Command)

Claims (2)

(57) [Claims] 1. A conductor plate of a linear induction motor provided along a traveling direction of an elevator including a car, and an armature of the linear induction motor provided on the elevator so as to face the conductor plate. An inverter that supplies AC power to the armature; a speed sensor that detects a traveling speed of the lifting body; and a control that controls the inverter based on a speed deviation between a speed command for the lifting body and the traveling speed. And an elevator sensor that drives the lifting body via an armature of the linear induction motor, wherein an acceleration sensor that detects a traveling acceleration of the lifting body is provided, and the control circuit is based on the speed deviation. A speed controller for generating an acceleration command for the lifting body, and a correction for the lifting body based on an acceleration deviation between the acceleration command and the traveling acceleration. An elevator control device comprising: an acceleration controller that generates a thrust command; and a power command generation unit that generates a power command to the inverter based on the corrected thrust command. 2. A conductor plate of a linear induction motor provided along a traveling direction of an elevator including a car, and an armature of the linear induction motor provided on the elevator so as to face the conductor plate. An inverter that supplies AC power to the armature; a speed sensor that detects a traveling speed of the lifting body; and a control that controls the inverter based on a speed deviation between a speed command for the lifting body and the traveling speed. And an elevator control device that drives the lifting body via an armature of the linear induction motor, a thrust sensor that detects a traveling thrust of the lifting body is provided, and the control circuit is based on the speed deviation. And a speed controller for generating a thrust command, and a thrust controller for generating a corrected thrust command for the lifting body based on a thrust deviation between the thrust command and the traveling thrust. An electric power command generating means for generating a power command to the inverter based on the corrected thrust command.